Journal ID : AMA-31-12-2021-10996
[This article belongs to Volume - 53, Issue - 01]
Total View : 415

Title : SLIDING MODE CONTROL FOR TRAJECTORY TRACKING OF DELTA PARALLEL ROBOTS

Abstract :

Building a dynamic model to meet control requirements is a challenging problem. This paper presents a sliding mode control law and proves its stability for parallel robots containing parameter uncertainties and noise. Next, simple and complex dynamic models were built to establish the sliding mode control law. Finally, trajectory errors of the control using two different dynamic models are compared to conclude which model is more suitable.

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